Admittance selection for force-guided assembly of polyhedral parts in single-point contact


The selection of the proper admittance is important in achieving force-guided assembly. This paper identifies procedures for selecting the appropriate spatial admittance to achieve reliable force-guided assembly of polyhedral parts for single-point frictionless contact cases. Sets of conditions that are imposed on the admittance matrix for different types… (More)
DOI: 10.1109/ROBOT.2004.1308807

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